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Pernilla
98 lines
3.7 KiB
C++
98 lines
3.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2016 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <stdint.h>
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namespace gimbal
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{
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/**
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* @struct ControlData
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* This defines the common API between an input and an output of the gimbal driver.
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* Each output must support the (full) set of the commands, and an input can create all
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* or a subset of the types.
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*/
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struct ControlData {
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enum class Type {
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Neutral = 0,
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Angle,
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LonLat
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};
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union TypeData {
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struct TypeAngle {
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float q[4];
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float angular_velocity[3];
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enum class Frame : uint8_t {
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AngleBodyFrame = 0, // Also called follow mode, angle relative to vehicle forward (usually default for yaw axis).
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AngularRate = 1, // Angular rate set only.
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AngleAbsoluteFrame = 2 // Also called lock mode, angle relative to horizon/world, lock mode. (usually default for roll and pitch).
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} frames[3];
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} angle;
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struct TypeLonLat {
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double lon; // longitude in deg
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double lat; // latitude in deg
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float altitude; // altitude in m
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float roll_offset; // roll offset in rad
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float pitch_offset; // pitch offset in rad
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float yaw_offset; // yaw offset in rad
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float pitch_fixed_angle; // ignored if < -pi, otherwise use a fixed pitch angle instead of the altitude
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} lonlat;
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} type_data;
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Type type = Type::Neutral;
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uint8_t sysid_primary_control = 0; // The MAVLink system ID selected to be in control, 0 for no one.
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uint8_t compid_primary_control = 0; // The MAVLink component ID selected to be in control, 0 for no one.
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// uint8_t sysid_secondary_control = 0; // The MAVLink system ID selected for additional input, not implemented yet.
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// uint8_t compid_secondary_control = 0; // The MAVLink component ID selected for additional input, not implemented yet.
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uint8_t device_compid = 0;
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uint64_t timestamp_last_update{0}; // Timestamp when there was the last setpoint set by the input used for timeout
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};
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// Must match paraneter MNT_DO_STAB
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enum MntDoStabilize {
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DISABLED = 0,
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ALL_AXES, // Stabilize all axis
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YAW_LOCK, // Stabilize yaw for absolute/lock mode.
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PITCH_LOCK, // Stabilize pitch for absolute/lock mode.
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};
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} /* namespace gimbal */
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